DARwIn OP Wiring Manual

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    DARwIn OP Wiring Manual

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    Principal authors:

    Thanh Pham

    Stephen Rouleau

    Coleman Knabe

    Matthew StanfordNolawe Woldesemayat

    Mark Umansky

    Justin Siegal

     Austin Kim

     Allison McCormack

    Dante Branch

    Viktor Orekhov

    PERMISSION  IS GRANTED TO COPY, DISTRIBUTE  AND/OR MODIFY THIS DOCUMENT UNDER 

    THE  TERMS  OF  THE  CREATIVE  COMMONS  ATTRIBUTION-NONCOMMERCIAL-SHARE ALIKE 

    3.0 UNPORTED  LICENSE. TO  VIEW   A  COPY  OF  THIS  LICENSE, VISIT HTTP://CREATIVECOMMONS.ORG/LICENSES/BY-NC-SA/3.0/

    DARwIn OP Wiring ManualCreated by RoMeLa at Virginia Tech

    Version: 1.0.1

    Created: 5/3/2011

    Modified: 7/26/2011

    THIS  WIRING  MANUAL  IS  TO  BE  USED  IN 

    CONJUNCTION WITH THE FOLLOWING DOCUMENTS:

    DARwIn OP Assembly ManualDARwIn OP Fabrication Manual

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    DARwIn OP Wiring Manual

    Table of contents

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    5

    2. Motor Connections

    Wire No. From To Approximate Length (cm)

    WM1 M20 M19 19

    WM2 M19 FitPC 8

    WM3 M1 FitPC 10

    WM4 M2 FitPC 10WM5 M7 FitPC 23

    WM6 M8 FitPC 17

    WM7 M5 M3 5

    WM8 M3 M1 18

    WM9 M6 M4 5

    WM10 M4 M2 18

    WM11 M9 M7 13

    WM12 M10 M8 13

    WM13 M11 M9 6

    WM14 M12 M10 6

    WM15 M13 M11 18

    WM16 M14 M12 18

    WM17 M15 M13 25

    WM18 M16 M14 25

    WM19 M17 M15 6

    WM20 M18 M16 6

    WM

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    3-1. Parts List 1 - Electronics

    Part Number Description Qty.

    19 Camera 1

    20 Head PCB 1

    22 FitPC 1

    23 CM730 1

    24 Antenna 1

    25 Antenna Connector 1

    26 Fan 2

    27 Back Cover PCB 1

    29 Speaker 1

    30 Power Switch 1

    31 Battery 1

    42 Antenna PCB 1

    19 20

    22 23

    24 25 26 27

    30

    29

    42

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    3-2. Parts List 2 - Wires

    Wire No. Wire NameApproximate

    Length (cm)

    W1 Fan Wire 5

    W2 Fan PCB Wire 8-pin 18

    W3 Fan PCB Wire 9-pin 18

    W4 Power Switch Wire 13

    W5 Speaker Wire 13

    W6 Speaker Extension Wire 9

    W7 Antenna Wire 10

    W8 Antenna PCB Wire 5

    W9 FitPC 3-Way Wire 5

    W10 CM730 to FitPC-Top Wire 11

    W11 CM730 to FitPC-Bottom Wire 13

    W12 Head PCB Wire 10-pin 28

    W13 Camera PCB Wire 23

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    5. Chest Section Wiring

    W1

    W2 (8-pins) W3 (9-Pins)

    5-3 Fan Wiring

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    5. Chest Section Wiring

    5-4 Head PCB Connection to CM730

    W12

    Front View Back View

    Head PCB

    Connects to CM730

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    C S

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    5. Chest Section Wiring

    Antenna

    Connector

    W7W8

    Antenna PCB

    5-6 Antenna Wiring

    Backside of

    FitPC

    5 Ch t S ti Wi i

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    5. Chest Section Wiring

    5-7 FitPC Connection to CM730

    FitPC Top Side FitPC Bottom Side

    W10 W9

    Connects to CM730 Connects to CM730

    6 M t Wi R ti

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    6. Motor Wire Routing

    6-1 Routing for the Head

    M20

    M16

    W12

    Head PCB

    WM1

    WM2

    6 M t Wi R ti

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    6. Motor Wire Routing

    6-2 Routing for the Arms

    Left Arm

    * Note that the right arm will follow the same routing configuration

    M6

    M4

    M2

    WM9

    Wire WM9 should be fed through the center

    hole of the arm actuator mount before connecting

    to motor M4.

    6 M t Wi R ti

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    17

    6. Motor Wire Routing

    6-2 Routing for the Arms

    Left Arm

    * Note that the right arm will follow the same routing configuration

    M6

    M4

    M2

    WM10

    WM4

    Connects to CM730

    6 M t Wi R ti

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    18

    6. Motor Wire Routing

    6-2 Routing for the Arms

    Left Arm

    * Note that the right arm will follow the same routing configuration

    M6

    M4

    M2

    Attach the cable holder to keep wire

    WM10 from getting tangled.

    WM10

    Cable Holder

    6 M t Wi R ti

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    6. Motor Wire Routing

    6-3 Routing for the Legs

    Left Leg

    * Note that the right leg will follow the same routing configuration

    M14

    M10

    M8

    Attach the cable holders to keep wire

    WM18 from getting tangled.

    WM18

    Cable

    Holders

    M18

    M12

    M16

    6 M t Wi R ti

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    6. Motor Wire Routing

    6-3 Routing for the Legs

    Left Leg

    * Note that the right leg will follow the same routing configuration

    M14

    M10

    M8

    Attach the cable holders to keep wire

    WM16 from getting tangled.

    WM12

    Cable

    Holders

    M18

    M12

    M16

    WM16

    WM14

    6 Motor Wire Routing

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    6. Motor Wire Routing

    6-3 Routing for the Legs

    Left Leg

    * Note that the right leg will follow the same routing configuration

    M14

    M12

    M8 WM12

    M16

    M10

    M18

    WM14

    WM6

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